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This paper addresses the problem of stabilizing and trajectory tracking control of a remotely operated vehicle (ROV-Observer) in the vertical plane. The underwater vehicle is not actuated in the pitch direction and cannot be locally asymptotically stabilized by continuous feedbacks which are functions of the state only. In the present note, exponential convergence is obtained by considering time-varying...
In underwater network, it is very important to know the location of unmanned underwater vehicle (UUV). The unknown position of UUV considered as an unknown node that can be determined from the known node locations through underwater acoustic network. The known node locations considered here as fixed positioned node. The range data is measured between unknown node and known nodes. By exploiting these...
In the paper an idea to apply evolutionary computation method with dedicated fitness function in dynamic system simulation and positioning is presented. Dedicated evolutionary system's efficiency in simulation, optimization and positioning of examined object is discussed. Presented experiments show common duty as well as extensive, overloading and dangerous situations at work. Research results are...
Work deals with fundamental algorithms for vehicle stability control. Introduction of the work is focused on directional vehicle stability during cornering. One of the main part of the work is focused to develop a kinematic - dynamic model vehicle chassis in an MSC. Adams, which is later served on the simulation of certain driving situations when turning the vehicle. Vehicle model is exported to Matlab/SIMULINK...
Considerable attention had previously been given to the single-vendor single-customer integrated inventory problem, but there had been very little work on the integrated single-vendor multi-customer and multi-product consideration. Here, we develop a generalized single-vendor multi-customer with multi-product consideration supply chain model with one transporter available to deliver the products from...
In this research, Auto-parking path planning system for an autonomous vehicle is developed. Reeds-Shepp curve algorithm make shortest path with the vehicle minimum turning radius and straight line from start point to goal point. In Reeds-Shepp curve algorithm total 48 path formulas are existed but these formulas are limited in actual parking lot. Because Reeds-Shepp curve path are valid in open environment,...
A mathematical model for lift generation on a doughnut-shaped Coandă micro air vehicle is developed and an analysis on the lift generation due to Coandă effect is carried out utilizing basic principles. A degenerate two-dimensional case is also developed. The results are discussed in view of related analytical and experimental work in the literature.
This paper discusses the development of a public transit scheduling tool that can be run on a spreadsheet software. The main objective of the paper is to bridge the existing gap between the theoretical knowledge of bus service scheduling and local transport service providers in order for the latter to improve their service. Users of the tool are allowed to input onboard passenger counts, to analyze...
Vehicles accidents are events that occur in the process of road traffic and lead to material and/or immaterial damages and in many cases to death of the road users. In this paper we propose and develop a Web based tool for analysis, visualization and animation of vehicle crash accidents. The method based on conservation of linear and angular momentum for the system of rigid bodies, combined with additional...
Gyroscope is well known as a sensor but also used as an actuator. In the beginning of 20th century, research that related with gyro-monorail by using a gyro-actuator was conducted. Later, the research on a gyro-bike system was reported in 1970's. Then, the self-sustaining body bike has been reported up until now. In this paper, we propose an unmanned self-sustaining driving control bike in a straight...
As a part of a driver assistance system, vehicle topview system plays an important role in driving safety. The objective of this research is to develop a vision-based top-view system to expand drivers' field of view. Four cameras provide a 360-degree view of the surrounding terrain of the vehicle, and the destination image is composed by these four processed images. In this paper, we divide the procedure...
In this paper, we propose a robust curved lane marking detection method by first detecting a straight lane and applying a geometric model of that detected straight lane. In our proposed method, we first detect the straight line and generate 13 candidates of the curved lane by applying a geometric model. We then vote those candidates on the feature image and consider the candidate which acquires the...
In vehicular ad hoc networks (VANETs), the wireless communication link is fragile because of vehicles' fast moving characteristics, which has facilitated extensive researches on vehicle-to-vehicle (V2V) link properties in recent decade. However, many applications need infrastructure's assistance, leading to that a link's actual characteristic is jointly determined by both direct V2V and vehicle-to-infrastructure...
When multiple miniature vehicles with individual position and inter-vehicle distance measurement ability collaborate in a formation, navigation base can be established by data fusion in a decentralized and standalone scheme. A Composite Data Fusion (CDF) algorithm which combines Least Square Error and Kalman Filtering is proposed in this paper to build navigation base with optimized computing stress...
This paper presents a new energy and power management control strategy for battery electric vehicle (BEV) with supercapacitors (SCs) based on speed command and acceleration estimation. The purpose of the control strategy is to increase the capability of regenerative braking energy capturing and to improve DC bus voltage regulation. The control strategy uses cascade voltage and current control of SCs...
Vision-based road signs detection and recognition has been widely used in intelligent robotics and automotive autonomous driving technology. Currently, one-time calibration of inverse perspective mapping (IPM) parameters is employed to eliminate the effect of perspective mapping, but it is not robust to the uphill and downhill road. We propose an automatic inverse perspective mapping method based...
Transmission is one of the crucial elements of the driveline that affects vehicle fuel economy and comfort. It can transfer power in different combinations of torque and speed. This paper focuses on the modeling, simulation and control of a two-speed transmission for electric vehicles which has seamless gear shifting specification. The transmission incorporates two-stage planetary gear sets and two...
This paper presents the development of an algorithm that uses nonlinear model predictive control (NMPC) to avoid collisions between a driver's vehicle and the nearby vehicles in complex situations. In particular, the paths of the driver's vehicle and the nearby vehicles are predicted to avoid collisions. NMPC is used to predict the paths of all vehicles, and if a collision is detected in the predicted...
This Document shows the control LQR (Linear quadratic Regulator) PI (Proportional Integral)Vectorial design, which is developed to control the dynamic of a remote operated underwater vehicle ROV, to allow that the vehicle follow a horizontal trajectory autonomously . The results are showed through simulations of following the trajectory of ROV obtaining satisfactory results and complying with the...
This paper presents a novel design of a collision avoidance controller of networked vehicles using a centralized Model Predictive Control (MPC) concept. The primary objective is to avoid collisions. The secondary objective is dealing with the quality of the collision-free trajectory, which is defined in comparison to the predefined reference trajectory. The resulted optimization problem is non-convex...
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